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EP3508160A1 - Système d'instrument chirurgical flexible basé sur une structure corporelle continue - Google Patents

Système d'instrument chirurgical flexible basé sur une structure corporelle continue Download PDF

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Publication number
EP3508160A1
EP3508160A1 EP17845461.7A EP17845461A EP3508160A1 EP 3508160 A1 EP3508160 A1 EP 3508160A1 EP 17845461 A EP17845461 A EP 17845461A EP 3508160 A1 EP3508160 A1 EP 3508160A1
Authority
EP
European Patent Office
Prior art keywords
fixing plate
structural
securely connected
surgical instrument
proximal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17845461.7A
Other languages
German (de)
English (en)
Other versions
EP3508160B1 (fr
EP3508160A4 (fr
Inventor
Kai Xu
Zhengchen DAI
Shu'an ZHANG
Jiangran ZHAO
Zhixiong Yang
Yuyang CHEN
Wei Wei
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Surgerii Technology Co Ltd
Original Assignee
Beijing Surgerii Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Surgerii Technology Co Ltd filed Critical Beijing Surgerii Technology Co Ltd
Publication of EP3508160A1 publication Critical patent/EP3508160A1/fr
Publication of EP3508160A4 publication Critical patent/EP3508160A4/fr
Application granted granted Critical
Publication of EP3508160B1 publication Critical patent/EP3508160B1/fr
Active legal-status Critical Current
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00148—Holding or positioning arrangements using anchoring means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Definitions

  • the present invention relates to a flexible surgical instrument system based on a continuous body structure, belonging to the field of medical instruments.
  • Multi-port laparoscopic minimally invasive surgery has occupied an important position in surgery because of it having small wound and rapid postoperative recovery.
  • the existing da Vinci surgical robot of the Intuitive Surgical, Inc. assists doctors in implementing the multi-port laparoscopic minimally invasive surgery and has achieved great commercial success.
  • an object of the present invention is to provide a flexible surgical instrument system based on a continuous body structure that can be better applied to a robot system which passes through a natural orifice of human body or a single surgical incision and performs an operation.
  • a flexible surgical instrument system based on a continuous body structure, the flexible surgical instrument system comprising a flexible surgical instrument and a driving unit; wherein the flexible surgical instrument comprises a flexible continuous body structure composed of a distal structural body, a proximal structural body and a middle connecting body; the distal structural body comprises at least one distal structural segment comprising a distal spacing disk, a distal fixing disk and structural backbones; the proximal structural body comprises a proximal structural segment comprising a proximal spacing disk, a proximal fixing disk and structural backbones; the middle connecting body comprises two channel fixing plates and a structural backbone guide channel provided between the two channel fixing plates; the structural backbones of the distal structural segment are securely connected, in one-to-one correspondence, to or are the same as the structural backbones of the proximal structural segment, one end of each of the structural backbones is securely connected to the proximal fixing disk, passing
  • the number of proximal structural bodies is equal to the number of distal structural segments.
  • the linear motion mechanism can comprise a shaft securely connected between the two channel fixing plates and a slider slidably connected to the shaft, the slider serves as the output end of the linear motion mechanism and is securely connected to the driving backbone, the slider is also securely connected to one end of a push-pull rod, and the other end of the push-pull rod passes through the channel fixing plates and is connected to the output rod through the sterile barrier.
  • the motion conversion part can further comprise a second fixing plate, a third fixing plate and a fourth fixing plate which are provided in front of the first fixing plate; each of the transmission chains comprises a first threaded rod and a second threaded rod which are spaced apart and rotatably supported between the third fixing plate and the fourth fixing plate, and the rear end of the first threaded rod passes through the third fixing plate and the second fixing plate in sequence and is connected to an output shaft of the first motor via a coupling; a first gear is securely connected to the first threaded rod between the second fixing plate and the third fixing plate, the first gear is in transmission connection with a second gear via an idle gear, and the second gear is securely connected to the second threaded rod; a first nut and a second nut are respectively connected, in a matching manner, to the first threaded rod and the second threaded rod between the third fixing plate and the fourth fixing plate; and the two output rods are respectively securely connected to the first nut and the second nut, and front ends of the output rods
  • the sterile barrier can comprise a first isolation plate, a second isolation plate, a plurality of sleeves securely connected between the first isolation plate and the second isolation plate, and base guide rods having the same number as the sleeves; one end of each of the base guide rods is connected to the front end of one of the output rods via a locking mechanism, and the other end of the base guide rod extends into the sleeve and is connected to the rear end of one push-pull rod via a quick-locking mechanism; and a sterile membrane for isolating a sterilizable part from an unsterilized part of the flexible surgical instrument system is securely connected to the first isolation plate.
  • the quick-locking mechanism can comprise an engagement block, an engagement groove matching the engagement block is provided at the rear end of the push-pull rod, and two articulation points are provided at the rear part of the engagement block, with one of the articulation points being articulated with the base guide rod, the other articulation point being connected to one end of a rocking bar via a connecting rod, and the other end of the rocking bar being articulated with the base guide rod;
  • the sleeve is provided with a first groove for the engagement block, the connecting rod and the rocking bar to rotate;
  • the front side of the second isolation plate is connected with a return spring, and a return baffle ring is securely connected to the front end of the return spring; wherein when the return spring is in a loosened state, the return baffle ring is attached to the first groove of the sleeve and abuts against a connecting point of the connecting rod and the rocking bar.
  • the rear side of the first isolation plate can be provided with a switch baffle ring which is slidably connected to the respective sleeve, the switch baffle ring is sheathed over the respective sleeves via through holes, a protrusion feature is provided in the respective through hole of the switch baffle ring, a second groove is provided on the side of the sleeve opposite to the first groove, and the connecting rod is a U-shaped connecting rod with one end being close to the second groove; and when the switch baffle ring moves backward along the respective sleeve, the respective protrusion feature slides along the second groove and touches the end of the U-shaped connecting rod, enabling the U-shaped connecting rod to rotate.
  • the locking mechanism can comprise a locking head with a threaded through hole that is securely connected to the base guide rod, a locking screw is connected, in a matching manner, into the threaded through hole, and when being screwed into the threaded through hole, the locking screw tightly abuts against the output rod.
  • a surgical end effector can be provided in the front end of the distal structural body, a actuation wire of the surgical end effector passes through the distal structural body, the other end of the distal structural body is connected to a surgical end effector driving mechanism on the channel fixing plate, the surgical end effector driving mechanism comprises a base securely connected to the channel fixing plate, a connecting rod is rotatably provided on the base, one end of the connecting rod is connected with a first slider which is securely connected to a second push-pull rod, and the rear end of the second push-pull rod passes through the channel fixing plate and extends backward; the other end of the connecting rod is connected with a second slider which is slidably connected into a sliding groove securely connected to the channel fixing plate, and the second slider is securely connected to the actuation wire; a second motor is securely connected to the first fixing plate, and the motion conversion part further comprises a second transmission chain which converts a rotary output of the second motor into a linear motion of a second output rod; and the linear motion
  • the motion conversion part can further comprise a second fixing plate, a third fixing plate and a fourth fixing plate which are provided in front of the first fixing plate; and the second transmission chain comprises a third threaded rod, the rear end of the third threaded rod is connected to the second motor via a coupling between the first fixing plate and the second fixing plate, both the third fixing plate and the fourth fixing plate rotatably support the third threaded rod, a third nut is connected, in a matching manner, to the third threaded rod between the third fixing plate and the fourth fixing plate, and the third nut is securely connected to the second output rod.
  • the flexible surgical instrument system can further comprise a shell, the first fixing plate is rotatably connected to the shell, and an inner ring gear is securely connected to an inner wall of the shell; and a third motor is securely connected to the first fixing plate, an output shaft of the third motor is connected to a shaft via a coupling, and the front end of the shaft is securely connected to a gear in transmission connection with another gear via an idle gear, the another gear meshing with the inner ring gear.
  • the flexible surgical instrument system can further comprise a shell and a linear module
  • the linear module comprises a support body, a fourth motor securely connected to the support body, and a linear feed mechanism securely connected to an output shaft of the fourth motor, wherein an output end of the linear feed mechanism is securely connected to the shell, and the fourth motor drives the shell by means of the linear feed mechanism, to drive the driving unit, the sterile barrier and the flexible surgical instrument to perform a linear motion.
  • the linear feed mechanism can comprise a lead screw rotatably connected to the support body, the lead screw is sheathed with a third slider which is threadedly fitted with the lead screw, a linear sliding groove is provided on the support body, and the third slider is slidably provided in the linear sliding groove; and the output shaft of the fourth motor is securely connected to the lead screw via a coupling.
  • the screw direction of the first threaded rod is different from that of the second threaded rod, and the screw pitch of the first threaded rod is the same as that of the second threaded rod.
  • a flexible continuous body structure comprising a proximal structural body, a middle connecting body and a distal structural body is used as the main body, and cooperates with a driving unit, wherein the distal structural body is linked to the proximal structural body via the middle connecting body, the driving unit is linked to the proximal structural body, and when the driving unit drives the proximal structural body to turn in any direction, the distal structural body correspondingly turns in the opposite direction, so as to implement the turning motion in any direction of a flexible surgical arm formed of the distal structural body and an envelope.
  • the driving unit in the present invention comprises linear motion mechanisms, a motor part and a motion conversion part, wherein a push-pull rod of the linear motion mechanism is connected to the proximal structural body via a driving backbone, a transmission chain in the motion conversion part can convert an output of one motor in the motor part into a cooperative linear motion of two output rods, and the output rods are connected to the push-pull rod of the linear motion mechanism via a sterile barrier, thereby effectively isolating an unsterilized part from a sterilized part of the system, and ensuring the practicability of clinical surgery. 3.
  • the sterile barrier in the present invention comprises base guide rods, one end of each of the base guide rods is connected to the output rod of the transmission chain via a locking mechanism, and the other end of the base guide rod is connected to the push-pull rod of the linear motion mechanism via a quick-locking mechanism, thus enhancing the modularity and flexibility of the whole system. 4.
  • a surgical end effector is provided in the front end of the distal structural body, a actuation wire of the surgical end effector passes through the distal structural body, and the other end is connected to a surgical end effector driving mechanism in the middle connecting body; and the motor part is provided with a motor for driving the push and pull of the actuation wire, and the output of the motor passes through the sterile barrier via another transmission chain and reaches the surgical end effector driving mechanism, thereby realizing motion control over the surgical end effector. 5.
  • the present invention is further provided with a shell, the driving unit and the shell are connected in a rotatable manner, an inner ring gear is securely provided on an inner wall of the shell, the motor part is provided with a motor for driving the part except for the shell and the inner ring gear, and the gear securely connected to an output shaft of the motor is connected to another gear via an idle gear, the another gear meshing with the ring gear. Therefore, the motor can be used to drive the part except for the shell and the inner ring gear to rotate as a whole, thereby adjusting the roll angle of the surgical end effector. 6.
  • the present invention is further provided with a linear module, which is connected to the shell and can drive the shell to perform a linear motion, and therefore, the flexible surgical arm also has a linear feed degree of freedom.
  • the present invention can be applied to the single-port endoscopic surgery, and can also be applied to the natural orifice transluminal non-invasive surgery.
  • the present invention comprises a flexible surgical instrument 10 and a driving unit 20.
  • the flexible surgical instrument 10 comprises a flexible continuous body structure composed of a distal structural body 101 (as shown in Fig. 2 ), a proximal structural body 102 (as shown in Fig. 3 ) and a middle connecting body 103 (as shown in Fig. 5 ); wherein the distal structural body 101 is linked to the proximal structural body 102 via the middle connecting body 103;
  • the driving unit 20 is linked to the proximal structural body 102, and when the driving unit 20 drives the proximal structural body 102 to turn in any direction, the distal structural body 101 correspondingly turns in the opposite direction.
  • the distal structural body 101 comprises two distal structural segments 104, 105, wherein the first distal structural segment 104 comprises first distal spacing disks 106, a first distal fixing disk 107 and first segment structural backbones 108.
  • the second distal structural segment 105 comprises second distal spacing disks 109, a second distal fixing disk 110 and second segment structural backbones 111.
  • the first distal spacing disks 106 and the second distal spacing disks 109 are respectively distributed at intervals in the first distal structural segment 104 and the second distal structural segment 105, in order to prevent the first segment structural backbones 108 and the second segment structural backbones 111 from being destabilized when being pushed.
  • the proximal structural body 102 comprises two proximal structural segments 112, 113, wherein the first distal structural segment 112 comprises first proximal spacing disks 114, a first proximal fixing disk 115 and first segment structural backbones 116; and the second proximal structural segment 113 comprises second proximal spacing disks 117, a second proximal fixing disk 118, and second segment structural backbones 119; wherein the first proximal spacing disks 114 and the second proximal spacing disks 117 are respectively distributed at intervals in the first proximal structural segment 112 and the second proximal structural segment 113, in order to prevent the first segment structural backbones 116 and the second segment structural backbones 119 from being destabilized when being pushed.
  • the first segment structural backbones 116 in the first proximal structural segment 112 are securely connected, in one-to-one correspondence, to or are the same as the first segment structural backbones 108 in the first distal structural segment 104; and the second segment structural backbones 119 in the second proximal structural segment 113 are securely connected, in one-to-one correspondence, to or are the same as the second segment structural backbones 111 of the second distal structural segment 105.
  • the number of structural backbones is three or more.
  • the middle connecting body 103 comprises two channel fixing plates 120 and a structural backbone guide channel 121 fixedly connected between the two channel fixing plates 120.
  • One end of the first segment structural backbone 116 (108) is securely connected to the first proximal fixing disk 115, and the other end passes through the first proximal spacing disks 114, the structural backbone guide channel 121 and the first distal spacing disks 106 in sequence and is then securely connected to the first distal fixing disk 107.
  • One end of the second segment structural backbone 119 (111) is securely connected to the second proximal fixing disk 118, and the other end passes through the second proximal spacing disks 117, the structural backbone guide channel 121, the first distal structural segment 104 and the second distal spacing disks 109 in sequence and is then securely connected to the second distal fixing disk 110.
  • the structural backbone guide channel 121 functions to maintain the shape of the structural backbone under a pushing or pulling force.
  • the number of the distal structural segments comprised in the distal structural body 101 and the number of the proximal structural segments comprised in the proximal structural body 102 may also be one or more than two, but the number of the proximal structural segments must be consistent with the number of the distal structural segments.
  • the distal structural segments comprised in the distal structural body 101 are connected in series, that is, the second segment structural backbone passes through the first distal fixing disk and the first distal spacing disks (and can also pass through the first segment structural backbone if the first segment structural backbone is of a tubular structure);
  • the number of the proximal structural segments comprised in the proximal structural body 102 is two or more, series connection, independent arrangement or nested arrangement (as shown in Fig. 4 ), etc. may be applied between the structural segments.
  • the driving unit 20 comprises a plurality of linear motion mechanisms 201 (as shown in Figs. 3 and 6 ) provided between the two channel fixing plates 120, each of the linear motion mechanisms 201 comprises one push-pull rod 205 and one slider 204 securely connected to the push-pull rod 205, the slider 204 is securely connected to one end of one driving backbone 202, the other end of the driving backbone 202 passes through the first proximal spacing disks 114 and is then securely connected to the first proximal fixing disk 115 or passes through the second proximal spacing disks 117 and is then securely connected to second proximal fixing disk 118.
  • eight driving backbones 202 are provided, four of which are connected to the first proximal fixing disk 115, and the other four ones are connected to the second proximal fixing disk 118.
  • the linear motion mechanisms 201 cooperatively pushing and pulling the driving backbones 202 connected to the first proximal structural segment 112
  • two degrees of freedom for the first proximal structural segment 112 to turn in any direction can be achieved; and when the first proximal structural segment 112 turns in a certain direction, the first distal structural segment 104 will turn in the opposite direction in a certain proportional relationship (determined by the distribution radius of the first segment structural backbone 116 and the first segment structural backbone 108 together).
  • the linear motion mechanism 201 further comprises a shaft 203 fixedly connected between the two channel fixing plates 120.
  • the slider 204 is slidably connected to the shaft 203.
  • the push-pull rod 205 passes through the channel fixing plate 120 and extends backwardly.
  • the driving unit 20 further comprises a motor part 206 and a motion conversion part 207, wherein the motor part 206 comprises a first fixing plate 208 and a plurality of (four in this embodiment) motors 209, which are securely connected to the first fixing plate 208 and are used for supplying a driving force to the driving backbone 202.
  • the motor part 206 comprises a first fixing plate 208 and a plurality of (four in this embodiment) motors 209, which are securely connected to the first fixing plate 208 and are used for supplying a driving force to the driving backbone 202.
  • the motion conversion part 207 comprises a plurality of (four in this embodiment) transmission chains 210, each of the transmission chains 210 converts a rotary output of one motor 209 into a linear motion of two output rods 221, 222, and the linear motion of the two output rods 221, 222 is ultimately transferred to two push-pull rods 205 accordingly, thus driving a pair of driving backbones 202 to complete cooperative pushing and pulling movement.
  • the motion conversion part 207 further comprises a second fixing plate 211, a third fixing plate 212 and a fourth fixing plate 245 which are provided in front of the first fixing plate 208.
  • Each of the transmission chains 210 comprises a first threaded rod 213 and a second threaded rod 214 which are spaced apart and rotatably supported between the third fixing plate 212 and the fourth fixing plate 245, wherein one end of the first threaded rod 213 passes through the third fixing plate 212 and the second fixing plate 211 in succession and is connected to an output shaft of the motor 209 via a coupling 215.
  • a first gear 216 is securely connected to the first threaded rod 213 between the second fixing plate 211 and the third fixing plate 212; and the first gear 216 is in transmission connection with a second gear 218 via an idle gear 217, the second gear 218 is securely connected to the second threaded rod 214, and one end of the second threaded rod 214 passes through the third fixing plate 212.
  • the screw direction of the first threaded rod 213 shall be different from that of the second threaded rod 214, for example, the first threaded rod 213 and the second threaded rod 214 are respectively a left-handed threaded rod and a right-handed threaded rod, and preferably, the screw pitch of the first threaded rod 213 is the same as that of the second threaded rod 214.
  • a first nut 219 and a second nut 220 are respectively connected, in a matching manner, to the first threaded rod 213 and the second threaded rod 214 between the third fixing plate 212 and the fourth fixing plate 245, the first nut 219 is securely connected to the output rod 221, and the second nut 220 is securely connected to the output rod 222.
  • the output rod 221 and the output rod 222 pass through the fourth fixing plate 245 to serve as an output end of the transmission chain 210.
  • the linear motion mechanism 201 and the motion conversion part 207 of the driving unit 20 are connected by a sterile barrier 223.
  • the sterile barrier 223 comprises a first isolation plate 224, a second isolation plate 225, a plurality of sleeves 226 fixedly connected between the first isolation plate 224 and the second isolation plate 225, and base guide rods 227 with the number of same matching the sleeves 226.
  • One end of each of the base guide rods 227 is connected to the output rod 221 or output rod 222 of the transmission chain 210 via a locking mechanism 228, and the other end extends into the sleeve 226 and is connected to push-pull rod 205 via a quick-locking mechanism 229.
  • a sterile membrane 230 is securely connected to the first isolation plate 224 on the side close to the linear motion mechanism 201, and is used for isolating a sterilizable part (such as the flexible surgical instrument 10 and the linear motion mechanism 201 which are located in front of the sterile barrier 223) from an unsterilized part (such as the motion conversion part 207, the motor part 206 and a linear module 50 which are located behind the sterile barrier 223), thereby ensuring the practicability of clinical surgery.
  • a sterilizable part such as the flexible surgical instrument 10 and the linear motion mechanism 201 which are located in front of the sterile barrier 223
  • an unsterilized part such as the motion conversion part 207, the motor part 206 and a linear module 50 which are located behind the sterile barrier 223
  • the locking mechanism 228 comprises a locking head 231 securely connected to the base guide rod 227, and a locking screw 232 connected to the locking head 231 via a screw, and when the output rod 221 or 222 is inserted into the locking head 231 of the base guide rod 227, by means of rotating the locking screw 232, the output rod 221 or 222 can tightly abut against the locking head 231, thereby realizing the connection between the base guide rod 227 and the output rod 221 or the output rod 222.
  • the quick-locking mechanism 229 comprises an engagement block 233; an engagement groove, the shape of which matches the engagement block 233, is provided at the rear end of the push-pull rod 205; and two articulation points 234, 235 are provided at the rear part of the engagement block 233, with one of the articulation points 234 being articulated with the base guide rod 227, the other articulation point 235 being connected to one end of a rocking bar 237 via a connecting rod 236, and the other end of the rocking bar 237 being articulated with the base guide rod 227.
  • the engagement block 233 can tightly engage with or release from the push-pull rod 205, thereby realizing rapid connection or disconnection.
  • the sleeve 226 is provided with a first groove for the engagement block 233, the connecting rod 236 and the rocking bar 237 to rotate; and the front side of the second isolation plate 225 is connected with a return spring 238, and a return baffle ring 239 is securely connected to the front end of the return spring 238.
  • the return baffle ring 239 When the return spring 238 is in a loosened state, the return baffle ring 239 is attached to the first groove of the respective sleeve 226 and abuts against a connecting point of the connecting rod 236 and the rocking bar 237, and at this time the engagement block 233 engages with the push-pull rod 205.
  • the rear side of the first isolation plate 224 is provided with a switch baffle ring 240 which is slidably connected to the respective sleeve 226, the switch baffle ring 240 is sheathed over the respective sleeves 226 via through holes, a protrusion feature 246 is provided in the respective through hole of the switch baffle ring 240, a second groove is provided on the side of the sleeve 226 opposite to the first groove, the connecting rod 236 is U-shaped (as shown in Fig.
  • the rear side of the switch baffle ring 240 is provided with an ejector block 241 for pushing the return baffle ring 239.
  • the return baffle ring 239 When the switch baffle ring 240 pushes the return baffle ring 239 to move backwardly, the return baffle ring 239 avoids the first groove on the sleeve 226 and does not limit the connecting rod 236 and the rocking bar 237 any longer, and at this time, the connecting point of the connecting rod 236 and the rocking bar 237 changes to outside the first groove on the sleeve 226, the engagement block 223 will release the push-pull rod 205, and the return spring 238 is in a compressed state; and when a pushing force on the switch baffle ring 240 is removed, the return baffle ring 239 returns to an original position under the action of the return spring 238.
  • the sterile barrier 223 further comprises a housing 242, the first isolation plate 224 and the second isolation plate 225 are both securely connected to the housing 242, a handle 243 is securely connected to an outer side of the switch baffle ring 240, a sliding groove 244 (as shown in Fig. 1 ) extending forward and backward is provided on the housing 242, and the handle 243 is slidably provided in the sliding groove 244.
  • An operator can move the switch baffle ring 240 by means of the handle 243, thereby realizing the connection or disconnection between the base guide rod 227 and the push-pull rod 205.
  • a surgical end effector 30 (as shown in Figs. 1 and 2 ) is provided in the front end of the distal structural body 101, a actuation wire 301 of the surgical end effector 30 passes through the distal structural body 101, the other end is connected to a surgical end effector driving mechanism 302 (as shown in Fig. 6 ) on the channel fixing plate 120, and the surgical end effector driving mechanism 302 controls the surgical end effector 30 (such as surgical forceps) by physically pushing and pulling the actuation wire 301.
  • the actuation wire 301 may also transfer various forms of energy, such as electrical energy and high-frequency vibrations, to achieve specific surgical functions of the surgical end effector 30.
  • the surgical end effector driving mechanism 302 comprises a base 303 securely connected to the channel fixing plate 120, a connecting rod 304 is rotatably provided on the base 303, one end of the connecting rod 304 is connected with a first slider 305, the first slider 305 is fixedly connected to a push-pull rod 306, and the rear end of the push-pull rod 306 passes through the channel fixing plate 120 and extends backwardly.
  • the other end of the connecting rod 305 is connected with a second slider 307, the second slider 307 is slidably connected into a sliding groove 308 which is securely connected in the center of the channel fixing plate 120, and the second slider 307 is securely connected to the actuation wire 301.
  • a motor 309 (as shown in Fig 8 ) for supplying a driving force to the push-pull rod 306 is securely connected to the first fixing plate 208 of the motor part, an output shaft of the motor 309 is connected to one end of a third threaded rod 311 via a coupling 310, the other end of the third threaded rod 311 is rotatably supported on the fourth fixing plate 245, a third nut 312 is connected, in a matching manner, to the third threaded rod 311 between the third fixing plate 212 and the fourth fixing plate 245, and the third nut 312 is fixedly connected to an output rod 313.
  • the output rod 313 and the push-pull rod 306 also use the base guide rod 227 on the sterile barrier 223 to transfer push-pull driving.
  • the present invention further comprises a shell 40.
  • the first fixing plate 208, the second fixing plate 211, the third fixing plate 212 and the fourth fixing plate 245 are all rotatably connected to the shell 40, an inner wall of the shell 40 is securely connected to an inner ring gear 401, the first fixing plate 208 is securely connected to a motor 402, an output shaft of the motor 402 is connected to a shaft 404 via a coupling 403, the front end of the shaft 404 is securely connected to a gear 405, and the gear 405 is in transmission connection with a gear 407, which meshes with the inner ring gear 401, via an idle gear 406.
  • the gear 405 When the output shaft of the motor 402 rotates, the gear 405 is driven to rotate via the shaft 404, the gear 405 drives the gear 407 to rotate via the idle gear 406, and the gear 407 will travel along the inner ring gear 401, thereby driving all the structures except the shell 40 and the inner ring gear 401 to rotate around the axis of the inner ring gear 401, realizing the overall rotation of the flexible surgical instrument 10, and achieving control over the roll angle of the distal structural body 101 and the surgical end effector 30.
  • the present invention further comprises a linear module 50 (the linear module 50 being also separated from the sterilized part by the sterile membrane 230), which comprises a support body 501 with a sliding groove, a lead screw 502 is rotatably provided on the support body 501, the lead screw 502 is sheathed with a slider 503 which is threadedly fitted with the lead screw 502 and is slidably provided in the sliding groove, one end of the support body 501 is provided with a motor 504, and an output shaft of the motor 504 is securely connected to the lead screw 502 via a coupling.
  • the shell 40 is securely connected to the slider 503. When the output shaft of the motor 504 rotates, the slider 503 drives the shell 40 to perform a linear motion along the sliding groove, thereby realizing a feed motion of the flexible surgical instrument 10.
  • an envelope 122 is provided over the outside of the distal structural body 101 and functions to improve the smoothness of the distal structural body 101 entering a natural orifice or a surgical incision in the human body.
  • a sheath 60 (as shown in Fig. 2 ) may also be provided over the outside of the envelope 122.
  • the sheath 60 is fixed at a single incision in the abdominal cavity, and the distal structural body 101, together with the envelope 122 and the surgical end effector 30, can freely pass through a through hole in the sheath 60 for the passage of the surgical instrument and access to the surgical site.
  • the sheath 60 may also be a flexible sheath that can more easily extend into various natural orifices of the human body and adaptively change shape as the shape of the orifices, one end of the flexible sheath is fixed at the entrance of the orifice, and the distal structural body 101, together with the envelope 122 and the surgical end effector 30, can freely pass through a through hole in the flexible sheath for the passage of the surgical instrument and access to the surgical site.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Surgical Instruments (AREA)
  • Prostheses (AREA)
  • Transmission Devices (AREA)
EP17845461.7A 2016-08-31 2017-08-30 Système d'instrument chirurgical flexible basé sur une structure corporelle continue Active EP3508160B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610798125.2A CN106361433B (zh) 2016-08-31 2016-08-31 一种基于连续体结构的柔性手术工具系统
PCT/CN2017/099755 WO2018041159A1 (fr) 2016-08-31 2017-08-30 Système d'instrument chirurgical flexible basé sur une structure corporelle continue

Publications (3)

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EP3508160A1 true EP3508160A1 (fr) 2019-07-10
EP3508160A4 EP3508160A4 (fr) 2020-04-29
EP3508160B1 EP3508160B1 (fr) 2021-11-03

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US (2) US11116592B2 (fr)
EP (1) EP3508160B1 (fr)
CN (1) CN106361433B (fr)
WO (1) WO2018041159A1 (fr)

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Also Published As

Publication number Publication date
US11116592B2 (en) 2021-09-14
CN106361433B (zh) 2018-11-27
US12193777B2 (en) 2025-01-14
EP3508160B1 (fr) 2021-11-03
US20190192241A1 (en) 2019-06-27
CN106361433A (zh) 2017-02-01
US20210361365A1 (en) 2021-11-25
WO2018041159A1 (fr) 2018-03-08
EP3508160A4 (fr) 2020-04-29

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